TRAJECTORY PLANNING OF REDUNDANT SPACE MANIPULATORS FOR MULTI-TASKS

The trajectory planning is addressed for a redundant space manipulator. The end effector is constrained to visit a set of predefined task points with minimum energy cost. In addition, minimum manipulator manoeuvre time and minimal attitude disturbance on free-floating base spacecraft are considered. The trajectory planning problem is studied as an optimisation problem, including the sequential order of task points, the joint configurations corresponding to each task point, and a shared coefficient. An improved genetic algorithm (IGA) is proposed to optimise the aforementioned parameters. In IGA, each chromosome consists of three parts, namely, the tasks points, the joint configurations, and the shared coefficient. Numerical simulations and comparisons are carried out to verify the proposed method.